Browsing by Subject "Robotics"
Now showing items 1-20 of 645
-
3D Visual Task and Motion Planning
(Universitat Politècnica de Catalunya, 2024-05-28)
Bachelor thesis
Restricted access - confidentiality agreement
Covenantee: Carnegie Mellon UniversityLes tasques de manipulació robòtica en entorns humans plantejen reptes que exigeixen capacitat de planificació. Mètodes tradicionals, basats en representacions simbòliques, assumeixen una descripció minuciosa de la tasca ... -
A 3D descriptor to detect task-oriented grasping points in clothing
(2016)
Article
Open AccessManipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. ... -
A constructivist didactic methodology for a humanoid robotics workshop
(IEEE Press. Institute of Electrical and Electronics Engineers, 2012)
Conference lecture
Restricted access - publisher's policyThis paper presents a constructivist methodology oriented to training Robotics in its wide sense, and its implementation in higher education. A humanoid robotics workshop is included as a part of the curriculum of ... -
A feasibility-driven approach to control-limited DDP
(Springer Nature, 2022-12-01)
Article
Open AccessDifferential dynamic programming (DDP) is a direct single shooting method for trajectory optimization. Its efficiency derives from the exploitation of temporal structure (inherent to optimal control problems) and explicit ... -
A feedback simulation procedure for real-time control of urban drainage systems
(Elsevier, 2019)
Conference report
Open AccessThis paper presents a feedback simulation procedure for the real-time control (RTC) of urban drainage systems (UDS) with the aim of providing accurate state evolutions to the RTC optimizer as well as illustrating the ... -
A field study with primary school children on perception of social presence and interactive behavior with a pet robot
(2012)
Conference lecture
Open AccessThis paper presents a study on measuring (1) how children experience a pet robot, (2) how they play with it and (3) how children’s perceptions on and interaction with pet robots are interrelated. The study features different ... -
A framework for robotized teleoperated tasks
(Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
Conference report
Open AccessTeleoperation systems allow the extension of the human operator’s sensing and manipulative capability into a remote environment to perform tasks at a distance, but the time-delays in the communications affect the stability ... -
A game-theoretic approach to multi-agent interaction for increased coordination and safety in robotics
(Universitat Politècnica de Catalunya, 2024-05-24)
Bachelor thesis
Open Access
Covenantee: Princeton UniversityA mesura que augmenten les capacitats dels sistemes robòtics, també ho fa el seu potencial per ser desplegats en entorns dinàmics i altament interactius. Aquest informe es centra en el repte de raonar sobre la coordinació ... -
A Learning from demonstration approach for robot trajectories through motion-sensing human demonstrations
(Universitat Politècnica de Catalunya, 2020-04-20)
Master thesis
Open AccessThe objective of this thesis is to teach a Baxter robot to learn certain arm trajectories. The robot must be capable of generalizing the primitive movement of the trajectory to new unseen poses. The thesis is framed ... -
A linear relaxation technique for the position analysis of multi-loop linkages
(2008)
Research report
Open AccessThis report presents a new method able to isolate all configurations that a multi-loop linkage can adopt. We tackle the problem by providing formulation and resolution techniques that fit particularly well together. The ... -
A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis
(2018-03-01)
Article
Open Access© 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form ... -
A qualitative spatial descriptor of group-robot interactions
(Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2017)
Conference report
Open AccessThe problem of finding a suitable qualitative representation for robots to reason about activity spaces where they carry out tasks such as leading or interacting with a group of people is tackled in this paper. For that, ... -
A Reactive Planning Framework for Dexterous Robotic Manipulation
(Universitat Politècnica de Catalunya, 2019-05-30)
Bachelor thesis
Open Access
Covenantee: Massachusetts Institute of TechnologyThis thesis investigates a reactive motion planning and controller framework that enables robots to manipulate objects dexterously. We develop a robotic platform that can quickly and reliably replan actions based on sensed ... -
A representation of cloth states based on a derivative of the Gauss linking integral
(Elsevier, 2023-11-15)
Article
Open AccessRobotic manipulation of cloth is a complex task because of the infinite-dimensional shape-state space of textiles, which makes their state estimation very difficult. In this paper we introduce the dGLI Cloth Coordinates, ... -
A roadmap to robot motion planning software development
(2009-02-23)
Article
Open AccessPhD programs and graduate studies in robotics usually include motion planning among its main subjects. Students that focus their research in this subject find themselves trapped in the necessity of programming an environment ... -
A space decomposition method for path planning of loop linkages
(IEEE, 2007)
Conference report
Open AccessThis paper introduces box approximations as a new tool for path planning of closed-loop linkages. Box approximations are finite collections of rectangloids that tightly envelop the robot's free space at a desired resolution. ... -
A Stiffness-fault-tolerant control strategy for an elastically actuated powered knee orthosis
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Conference report
Restricted access - publisher's policyElastic actuators can provide safe human-robot interaction and energy efficient mobility. For this purpose they are ideal for wearable robotic applications. However, such actuators are subject to stiffness faults. We present ... -
A Survey of path following control strategies for UAVs focused on quadrotors
(2019-11-09)
Article
Open AccessThe trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference ... -
A tool for knowledge-oriented physics-based motion planning and simulation
(2019)
Part of book or chapter of book
Open AccessThe book covers a variety of topics in Information and Communications Technology (ICT) and their impact on innovation and business. The authors discuss various innovations, business and industrial motivations, and impact ... -
A view of network robot systems in urban areas in Europe
(IEEE, 2008)
Conference report
Open AccessPresentation of the projects in network robot systems in Europe
